CN115813550A - Percutaneous nephrolithotomy lithotomy mechanical arm and control method thereof - Google Patents
Percutaneous nephrolithotomy lithotomy mechanical arm and control method thereof Download PDFInfo
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- CN115813550A CN115813550A CN202211595274.0A CN202211595274A CN115813550A CN 115813550 A CN115813550 A CN 115813550A CN 202211595274 A CN202211595274 A CN 202211595274A CN 115813550 A CN115813550 A CN 115813550A
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- 238000000034 method Methods 0.000 title claims abstract description 37
- 238000002504 lithotomy Methods 0.000 title claims description 15
- 230000005540 biological transmission Effects 0.000 claims abstract description 48
- 230000007246 mechanism Effects 0.000 claims abstract description 48
- 229910052689 Holmium Inorganic materials 0.000 claims description 35
- KJZYNXUDTRRSPN-UHFFFAOYSA-N holmium atom Chemical compound [Ho] KJZYNXUDTRRSPN-UHFFFAOYSA-N 0.000 claims description 35
- 230000010412 perfusion Effects 0.000 claims description 26
- 210000003734 kidney Anatomy 0.000 claims description 24
- 230000015654 memory Effects 0.000 claims description 20
- 239000000835 fiber Substances 0.000 claims description 15
- 238000004590 computer program Methods 0.000 claims description 13
- 239000011229 interlayer Substances 0.000 claims description 9
- 230000000694 effects Effects 0.000 abstract description 3
- 239000004575 stone Substances 0.000 description 23
- 230000008569 process Effects 0.000 description 11
- 230000033001 locomotion Effects 0.000 description 6
- 239000010410 layer Substances 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 4
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000001839 endoscopy Methods 0.000 description 2
- 229910052751 metal Inorganic materials 0.000 description 2
- 239000002184 metal Substances 0.000 description 2
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- 238000001356 surgical procedure Methods 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 208000000913 Kidney Calculi Diseases 0.000 description 1
- 206010029148 Nephrolithiasis Diseases 0.000 description 1
- 206010067268 Post procedural infection Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011010 flushing procedure Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 210000004247 hand Anatomy 0.000 description 1
- 238000001802 infusion Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 210000000244 kidney pelvis Anatomy 0.000 description 1
- 238000002686 lithotriptor Methods 0.000 description 1
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Abstract
The application belongs to the technical field of medical instruments and discloses a percutaneous nephroscope lithotripsy stone-taking mechanical arm and a control method thereof, wherein the mechanical arm comprises a controller, a mounting platform, a transmission mechanism, a first clamping part and a second clamping part; the transmission mechanism is arranged on the mounting platform and is provided with a first clamping part, and the first clamping part is used for fixing the nephroscope lithotripsy device; the second clamping part is arranged at the front end of the mounting platform and used for fixing the channel sheath calculus removing device; wherein the controller is respectively connected with the transmission mechanism, the nephroscope lithotripsy device and the channel sheath lithotripsy device; the nephroscope lithotripsy device is used for entering a renal cavity through a channel sheath in the channel sheath lithotripsy device in an operation so as to obtain an image in the renal cavity and carry out laser lithotripsy; the channel sheath lithotripsy device is used for providing a channel for the nephroscope lithotripsy device in operation and performing lithotripsy operation. The application can achieve the effects of accurately and efficiently completing percutaneous nephroscope lithotripsy calculus removing operation and relieving fatigue of an operator.
Description
Technical Field
The application relates to the technical field of medical instruments, in particular to a percutaneous nephroscope lithotripsy stone-taking mechanical arm and a control method thereof.
Background
Minimally invasive percutaneous nephrolithotomy (mini-PCNL) is a mature technology for treating kidney stones, and is currently used for replacing open surgery and widely applied to clinical practice. In conventional mini-PCNL procedures, the operator uses an access sheath to create a percutaneous renal access, then inserts a nephroscope through the access sheath into the kidney, finds the stone in the kidney under endoscopic monitoring, uses a holmium laser or a pneumatic ballistic lithotripter to break up the stone, and then flushes the debris out of the body through a pulsed water flow generated by an infusion pump. The process requires repeated operation of a nephroscope by an operator, the lithotripsy and lithotomy efficiency is low, the operation time is long, and the risk of postoperative infection caused by the increase of the pressure in the renal pelvis exists.
On the basis of the traditional mini-PCNL operation, a negative pressure suction technology is introduced into a suction minimally invasive percutaneous nephrolithotomy (SMP) technology, and a channel of the suction minimally invasive nephrolithotomy has the functions of independent perfusion and negative pressure suction calculus removal, so that the calculus removing efficiency is greatly improved, the operation time can be shortened, the lower intra-renal pelvis pressure in the operation is kept, and the suction minimally invasive nephrolithotomy method is a revolutionary innovation in the field of minimally invasive calculus removal. In the traditional mini-PCNL operation, an operator holds an endoscope with the left hand and a pneumatic ballistic lithotripter handle with the right hand to perform lithotripsy, changes hands after lithotripsy, changes the channel sheath with the left hand and washes the lithotripsy with the endoscope with the right hand, and has complex actions and low efficiency. And in SMP art, art person's left hand control attracts the sheath, and the scope is handed to the right hand adopts holmium laser rubble, and holmium laser fiber fixes and need not additionally to grip on the scope, can carry out the rubble simultaneously and get the stone, has greatly simplified the operation, has promoted rubble and has got stone efficiency.
However, the whole operation process of the current SMP operation is completely operated manually by the operator, which not only has complex operation and low efficiency, but also has operation accuracy completely depending on the personal experience and level of the operator, resulting in uneven operation accuracy of different operators. Meanwhile, the stone breaking and removing in the SMP surgery also requires long-time repeated mechanical operation, and the long-time operation inevitably brings fatigue and even strain to arms and wrists of the surgeon. The SMP technique in the prior art has the problems of low efficiency, unstable accuracy and easy fatigue of the operator.
Disclosure of Invention
The application provides a percutaneous nephrolithotomy lithotomy mechanical arm and a control method thereof, which can accurately and efficiently complete an operation and reduce the fatigue of an operator.
In a first aspect, an embodiment of the present application provides a percutaneous nephrolithotomy lithotripter mechanical arm, which includes a controller, a mounting platform, a transmission mechanism, a first clamping portion and a second clamping portion;
the transmission mechanism is arranged on the mounting platform and is provided with a first clamping part, and the first clamping part is used for fixing the nephroscope lithotripsy device;
the second clamping part is arranged at the front end of the mounting platform and used for fixing the channel sheath calculus removing device;
wherein the controller is respectively connected with the transmission mechanism, the nephroscope lithotripsy device and the channel sheath lithotripsy device;
the nephroscope lithotripsy device is used for entering a renal cavity through a channel sheath in the channel sheath lithotripsy device in an operation so as to obtain an image in the renal cavity and carry out laser lithotripsy; the channel sheath lithotripsy device is used for providing a channel for the nephroscope lithotripsy device in the operation and performing lithotripsy operation after lithotripsy;
the controller is used for responding to the moving operation instruction and controlling the transmission mechanism to drive the first clamping part to move forwards so that the front end of the nephroscope lithotripsy device moves to a first position in the channel sheath; controlling a renal endoscope lithotripsy device to carry out laser lithotripsy; after laser lithotripsy is completed, the transmission mechanism is controlled to drive the first clamping part to retreat, so that the front end of the nephroscope lithotripsy device moves to a second position in the channel sheath; controlling the channel sheath calculus removing device to perform calculus removing operation.
In one embodiment, the transmission mechanism comprises a stepping motor and a guide rail;
the guide rail is embedded in the mounting platform, a sawtooth structure is arranged at the bottom of the guide rail, and a first clamping part is fixedly arranged at one end of the guide rail;
the stepping motor is meshed with the sawtooth structure through a gear to drive the guide rail to move back and forth; the stepping motor is connected with the controller.
In one embodiment, the nephroscope lithotripsy device comprises a nephroscope and a laser lithotripsy device;
the nephroscope comprises a camera and a light source, and the laser lithotripsy equipment comprises a holmium laser generator and a holmium laser fiber;
one end of the holmium laser fiber is connected with a holmium laser generator, and the other end of the holmium laser fiber enters the renal cavity through the inner cavity of the renal endoscope;
the controller is respectively connected with the camera, the light source and the holmium laser generator.
In one embodiment, the channel sheath calculus removing device comprises a channel sheath, a perfusion pump and a negative pressure suction device, wherein the perfusion pump and the negative pressure suction device are respectively communicated with the channel sheath through a conduit;
the controller is respectively connected with the perfusion pump and the negative pressure suction device.
In one embodiment, the channel sheath is a double-layer channel sheath comprising an inner channel sheath and an outer channel sheath, a sandwich lavage channel is formed between the inner channel sheath and the outer channel sheath, and the inner cavity of the inner channel sheath forms a central suction channel; one end of the channel sheath is provided with a first lateral branch connecting part and a second lateral branch connecting part, the first lateral branch connecting part is used for communicating the interlayer lavage channel and the perfusion pump, and the second lateral branch connecting part is used for communicating the central suction channel and the negative pressure suction device; the second side branch connecting part is positioned behind the first side branch connecting part;
the transmission mechanism drives the first clamping part to move back and forth, so that the front end of the kidney endoscope moves between a first position and a second position; the first position is located between the first side branch connecting part and the front end of the channel sheath, and the second position is located behind the second side branch connecting part.
In one embodiment, the controller is connected with a command input device, and the command input device comprises at least one of a keyboard, a mouse and a foot controller.
In one embodiment, the first clamping part is fixedly connected with the renal endoscope lithotripsy device through a clamping groove structure and a fixing knob; the second clamping part is fixedly connected with the channel sheath calculus removing device through a clamping groove structure and a fixing knob.
In a second aspect, an embodiment of the present application provides a control method for a percutaneous nephrolithotomy mechanical arm, including:
responding to the movement operation instruction, controlling the transmission mechanism to drive the first clamping part to move forwards, so that the front end of the nephroscope lithotripsy device moves to a first position in the channel sheath;
controlling a renal endoscope lithotripsy device to carry out laser lithotripsy;
after laser lithotripsy is completed, the transmission mechanism is controlled to drive the first clamping part to retreat, so that the front end of the nephroscope lithotripsy device moves to a second position in the channel sheath;
controlling the channel sheath calculus removing device to perform calculus removing operation.
In a third aspect, embodiments of the present application provide an electronic device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to perform the steps of the method for controlling the percutaneous nephrolithotripsy lithotomy manipulator according to any one of the embodiments described above.
In a fourth aspect, embodiments of the present application provide a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the steps of the method for controlling a percutaneous nephrolithotripsy lithotomy robotic arm according to any one of the embodiments described above.
In summary, compared with the prior art, the beneficial effects brought by the technical scheme provided by the embodiment of the application at least include:
the embodiment of the application provides a percutaneous nephrolithotomy lithotomy mechanical arm and a control method thereof, wherein the mechanical arm comprises a controller, an installation platform, a transmission mechanism, a first clamping part and a second clamping part; the transmission mechanism is arranged on the mounting platform and is provided with a first clamping part, and the first clamping part is used for fixing the nephroscope lithotripsy device; the second clamping part is arranged at the front end of the mounting platform and used for fixing the channel sheath calculus removing device; the controller can respond to a moving operation instruction and control the transmission mechanism to drive the first clamping part to move forwards, so that the front end of the nephroscope lithotripsy device moves to a first position in the channel sheath; then controlling a renal endoscopy lithotripsy device to carry out laser lithotripsy; after laser lithotripsy is completed, the transmission mechanism is controlled to drive the first clamping part to retreat, so that the front end of the nephroscope lithotripsy device moves to a second position in the channel sheath; controlling the channel sheath calculus removing device to perform calculus removing operation. Above-mentioned arm can adopt first clamping part and second clamping part fixed connection nephroscope rubble device and passageway sheath respectively to get stone device, come the front end that control drive mechanism drove nephroscope rubble device through the controller at passageway sheath reciprocating motion, and control nephroscope rubble device rubble forward, the rubble is accomplished the back and is moved back of back control nephroscope rubble device, then start passageway sheath and get stone device and realize getting the stone operation, the rubble gets up with getting the stone cooperation and realizes, can improve operation efficiency, and reduce the work load of art person. Therefore, the SMP operation process can be simplified by adopting the mechanical arm, the SMP operation can be accurately and efficiently completed, and the fatigue of an operator is relieved.
Drawings
Fig. 1 is a block diagram of a percutaneous nephrolithotripsy stone removal robotic arm provided in an exemplary embodiment of the present application.
FIG. 2 is a block diagram of a percutaneous nephrolithotomy stone manipulator provided in an exemplary embodiment of the present application.
Fig. 3 is a flowchart of a control method of a percutaneous nephrolithotripsy lithotomy robotic arm according to yet another exemplary embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Referring to fig. 1 and 2, the embodiment of the present application provides a percutaneous nephrolithotomy lithotriptor manipulator, which includes a controller 1, a mounting platform 2, a transmission mechanism 3, a first clamping portion 4 and a second clamping portion 5;
the transmission mechanism 3 is arranged on the mounting platform 2, a first clamping part 4 is arranged on the transmission mechanism 3, and the first clamping part 4 is used for fixing the nephroscope lithotripsy device 6;
the second clamping part 5 is arranged at the front end of the mounting platform 2, and the second clamping part 5 is used for fixing the channel sheath calculus removing device 7;
wherein, the controller 1 is respectively connected with the transmission mechanism 3, the nephroscope lithotripsy device 6 and the channel sheath lithotripsy device 7;
the nephroscope lithotripsy device 6 is used for entering a renal cavity through a channel sheath in the channel sheath lithotripsy device 7 in an operation so as to obtain an image in the renal cavity and carry out laser lithotripsy; the channel sheath lithotripsy device 7 is used for providing a channel for the nephroscope lithotripsy device 6 in operation and performing lithotripsy operation after lithotripsy.
Before the operation, the channel sheath needs to be placed into the kidney cavity of the human body in advance.
The controller 1 is used for responding to a moving operation instruction, controlling the transmission mechanism 3 to drive the first clamping part 4 to move forwards, and enabling the front end of the nephroscope lithotripsy device 6 to move to a first position in the channel sheath; controlling the renal endoscope lithotripsy device 6 to carry out laser lithotripsy; after laser lithotripsy is completed, the transmission mechanism 3 is controlled to drive the first clamping part 4 to retreat, so that the front end of the nephroscope lithotripsy device 6 moves to a second position in the channel sheath; controlling the channel sheath calculus removing device 7 to perform calculus removing operation.
In some embodiments of the present embodiment, the transmission mechanism 3 may be a metal conveying track structure controlled by a stepping motor, and the first clamping portion 4 may be fixedly disposed on one of the conveying tracks; the transmission mechanism 3 may also adopt other conveying structures commonly used in the prior art, and the first clamping part is fixed on the conveying structure and is carried by the conveying structure to move back and forth along the direction of the mounting platform.
Specifically, the operation person can be according to the operation outdoor scene of the operation image in the renal cavity that the rubble device of renal endoscope obtained and direct observation, through giving out instruction and external control to the controller, control the cooperation of the rubble device of renal endoscope and passageway sheath and get the stone device and accomplish the operation to realize semi-automatic control rubble and get the stone.
When the device is specifically implemented, an operator firstly establishes a percutaneous kidney channel, and connects a channel sheath with a perfusion pump and a negative pressure suction device; fixing the renal endoscope and an image acquisition system attached to the renal endoscope, and then inserting a holmium laser fiber into the renal endoscope and fixing the holmium laser fiber; fixing the whole mechanical arm on a main motion control system, and moving the mechanical arm into a surgical field; and the angle and the position of the device for fixing the channel sheath on the second clamping part on the mechanical arm are well adjusted. In one application mode, an operator can be connected with the controller through a pedal controller, for example, the operator can control holmium laser lithotripsy by a right foot, the operator can press the pedal to emit holmium laser lithotripsy, the operator can control the reciprocating motion of the nephroscope lithotripsy device by a left foot, and the operator can drive the transmission mechanism to drive the nephroscope lithotripsy device to move back and forth by pressing the pedal forwards or backwards.
In practical application scenarios, the mechanical arm can be integrated on the main operation platform and controlled by the main operation platform, and can also independently operate. To facilitate the detachable mounting of the robotic arm to the main surgical platform, a robotic arm provided in this embodiment may be provided with a coupling portion at the bottom of the mounting platform 2 for fixed coupling to the main surgical platform. Meanwhile, when the robot arm is mounted to the main operation platform, it is necessary to connect the controller 1 to a main control system of the main operation platform.
The percutaneous nephrolithotomy lithotomy mechanical arm provided by the embodiment comprises a controller, a mounting platform, a transmission mechanism, a first clamping part and a second clamping part; the transmission mechanism is arranged on the mounting platform and is provided with a first clamping part, and the first clamping part is used for fixing the nephroscope lithotripsy device; the second clamping part is arranged at the front end of the mounting platform and used for fixing the channel sheath calculus removing device; the controller can respond to the moving operation instruction and control the transmission mechanism to drive the first clamping part to move forwards, so that the front end of the nephroscope lithotripsy device moves to a first position in the channel sheath; then controlling a renal endoscopy lithotripsy device to carry out laser lithotripsy; after laser lithotripsy is completed, controlling the transmission mechanism to drive the first clamping part to retreat so that the front end of the nephroscope lithotripsy device moves to a second position in the channel sheath; controlling the channel sheath calculus removing device to perform calculus removing operation. Above-mentioned arm can adopt first clamping part and second clamping part fixed connection nephroscope rubble device and passageway sheath respectively to get stone device, come the front end that control drive mechanism drove nephroscope rubble device through the controller at passageway sheath reciprocating motion, and control nephroscope rubble device rubble forward, the rubble is accomplished the back and is moved back of back control nephroscope rubble device, then start passageway sheath and get stone device and realize getting the stone operation, the rubble gets up with getting the stone cooperation and realizes, can improve operation efficiency, and reduce the work load of art person. Therefore, the SMP operation process can be simplified by adopting the mechanical arm, the SMP operation can be accurately and efficiently completed, and the fatigue of an operator is relieved.
In some embodiments, the transmission mechanism 3 includes a stepping motor 31 and a guide rail 32; the guide rail 32 is embedded in the mounting platform 2, the bottom of the guide rail 32 is provided with a sawtooth structure, and one end of the guide rail 32 is fixedly provided with a first clamping part 4; the stepping motor 31 is meshed with the sawtooth structure through a gear to drive the guide rail 32 to move back and forth; the stepping motor 31 is connected to the controller 1.
Wherein, the guide rail 32 can be a metal guide rail; the stepping motor 31 can be precisely moved under the control of the controller 1.
In specific implementation, the guide rail 32 can move back and forth under the driving of the stepping motor 31, so as to drive the kidney endoscope installed on the first clamping part 4 to move back and forth.
In this embodiment, the guide rail is embedded to be arranged in the mounting platform, so that the space of the mechanical arm can be saved, and meanwhile, the transmission structure that the stepping motor controls the guide rail to reciprocate through gear engagement is adopted, so that the structure is simple and the control is convenient.
In some embodiments, the nephroscope lithotripsy apparatus 6 includes a nephroscope and a laser lithotripsy device;
the nephroscope comprises a camera 61 and a light source 62, and the laser lithotripsy equipment comprises a holmium laser generator 63 and a holmium laser fiber 64;
one end of a holmium laser fiber 64 is connected with a holmium laser generator 63, and the other end of the holmium laser fiber 64 enters the renal cavity through the inner cavity of the renal endoscope;
the controller 1 is respectively connected with a camera 61, a light source 62 and a holmium laser generator 63.
The camera 61 and the light source 62 are an image acquisition structure attached to the kidney endoscope and used for acquiring an intra-cavity image; a holmium laser fiber 64 is used for lithotripsy.
Specifically, when the kidney scope successfully got into the kidney chamber in the art, camera 61 and light source 62 can be opened to controller 1 to obtain kidney intracavity image, so that further confirm the calculus position, then open holmium laser generator 63 and produce holmium laser, transmit the holmium laser to the calculus position through holmium laser fiber 64 and carry out the rubble, carry out the rubble of a period of time after according to length or the art person's demand of predetermineeing, need stop the rubble, controller 1 just closed holmium laser generator 63 this moment, stop the rubble.
The kidney endoscope lithotripsy device 6 in this embodiment includes kidney endoscope and laser lithotripsy equipment, can control kidney endoscope and laser lithotripsy equipment respectively through controller 1 is automatic or semi-automatic, both can obtain the image through the kidney endoscope in order to observe the condition in the kidney, can also realize the beginning and the termination of rubble operation through the switch of control laser lithotripsy equipment simultaneously.
In some embodiments, the channel sheath lithotomy device 7 comprises a channel sheath 71, a perfusion pump 72 and a negative pressure suction device 73, wherein the perfusion pump 72 and the negative pressure suction device 73 are respectively communicated with the channel sheath 71 through a catheter; the controller 1 is connected with the perfusion pump 72 and the negative pressure suction device 73 respectively.
Specifically, the renoscope can enter the renal cavity through the channel sheath 71, and the channel sheath 71 needs to be connected with the perfusion pump 72 and the negative pressure suction device 73 respectively before operation.
In some embodiments of this embodiment, the channel sheath 71 is a double channel sheath comprising an inner channel sheath and an outer channel sheath, the inner channel sheath and the outer channel sheath forming a sandwiched lavage channel therebetween, and the lumen of the inner channel sheath forming a central aspiration channel. The interlayer lavage channel is an independent channel. During concrete implementation, the front end of this intermediate layer lavage passageway can adopt the opening design so that wash the kidney chamber, perhaps, the front end of this intermediate layer lavage passageway also can be for opening the terminal surface that has the apopore, sets up a plurality of apopores on the preceding terminal surface of intermediate layer between inner channel sheath pipe and outer channel sheath pipe promptly and washes the kidney chamber with supplying water outflow.
One end of the channel sheath 71 is provided with a first lateral branch connecting part and a second lateral branch connecting part, the first lateral branch connecting part is used for communicating the interlayer lavage channel and the perfusion pump 72, and the second lateral branch connecting part is used for communicating the central suction channel and the negative pressure suction device 73; the second side branch connecting part is positioned behind the first side branch connecting part; the transmission mechanism 3 drives the first clamping part 4 to move back and forth, so that the front end of the kidney endoscope moves between a first position and a second position. Wherein the first position is between the first side branch connecting part and the front end of the channel sheath 71, and the second position is behind the second side branch connecting part.
Wherein the two side branch connecting parts are close to each other, and the second side branch connecting part is usually arranged at a position which is closer to the rear end of the channel sheath 71 behind the first side branch connecting part; the embodiment has strict limit requirements on the guide rail 32 of the transmission mechanism 3, and ensures that the renoscope can only move within a certain range, namely the front end of the renoscope can only move between the first position and the second position in the channel sheath 71, so that the front end of the renoscope is ensured not to extend out of the channel sheath 71 when moving forwards, and just crosses the second side branch connecting part of the communicated negative pressure suction device 73 when moving backwards.
Specifically, a first side branch connecting part of the channel sheath 71 is communicated with the perfusion pump 72 so that the perfusion pump 72 is communicated with the interlayer lavage channel, a second side branch connecting part is communicated with the negative pressure suction device 73 so that the negative pressure suction device 73 is communicated with the central suction channel, and the perfusion pump 72 and the negative pressure suction device 73 are both determined to be connected with the controller 1, after laser lithotripsy is completed, the controller 1 controls the front end of the nephroscope to move to the rear of the second side branch connecting part communicated with the negative pressure suction device 73 through the transmission mechanism 3, generally just passing through the second side branch connecting part, so as to ensure that the negative pressure suction device 73 is in a state of being completely communicated with the central suction channel of the channel sheath 71, at the moment, the controller 1 firstly opens the perfusion pump 72, flushes the renal cavity through the interlayer lavage channel of the channel sheath 71, then closes the perfusion pump 72, opens the negative pressure suction device 73 to suck the lithotripsy through the central suction channel, lithotripsy operation is realized, and the interlayer lavage channel and the central suction channel are not affected by each other.
In the above embodiment, the channel sheath 71 of the channel sheath calculus removing device 7 is preset in the renal cavity before operation, and after the controller 1 finishes laser calculus crushing in operation, the operation of the perfusion pump 72 and the negative pressure suction device 73 can be controlled to realize calculus removing operation, so that the whole process can be automatically or semi-automatically completed without manual operation of an operator, and the fatigue of the operator can be reduced.
In some embodiments, the controller 1 is connected to a command input device 8, and the command input device 8 includes at least one of a keyboard, a mouse, and a foot controller.
Wherein, the keyboard and the mouse can be connected with the controller 1, and the operation or the parameter adjustment can be carried out by inputting instructions; the art person also can send control command to controller 1 through foot controller for control stepper motor drives the removal of kidney scope, then starts holmium laser generator 63 and produces holmium laser in order to carry out the rubble, accomplishes the rubble through reciprocating motion and gets the stone process.
In the above embodiment, the mechanical arm can adopt a plurality of different instruction input devices to input control instructions to the controller, so that the mechanical arm has better adaptability and is convenient to operate.
In some embodiments, the first clamping portion 4 is fixedly connected with the nephroscope lithotripsy device 6 through a clamping groove structure and a fixing knob; the second clamping part 5 is fixedly connected with the channel sheath calculus removing device 7 through a clamping groove structure and a fixing knob.
The clamping groove structure of the first clamping part 4 is used for placing a nephroscope lithotripsy device 6, and the clamping groove structure of the second clamping part 5 is used for placing a channel sheath lithotripsy device 7. Specifically, the elasticity degree of draw-in groove structure is adjusted to the fixed knob of accessible to realize that kidney endoscope rubble device 6 fixed connection is on first clamping part 4, and get stone device 7 fixed connection on second clamping part 5 with the passageway sheath.
In the above embodiment, the clamping groove structure and the fixing knob are adopted to realize the fixed connection of the clamping part, so that the adjustment is convenient and the use is convenient.
Referring to fig. 3, based on the above embodiments, an embodiment of the present application provides a control method for a percutaneous nephrolithotomy mechanical arm, which is described by taking a controller as an example, and the method may include the following steps:
step S1, responding to a moving operation instruction, controlling a transmission mechanism to drive a first clamping part to move forwards, and enabling the front end of the nephroscope lithotripsy device to move to a first position in a channel sheath.
The first position can be located between the first side branch connecting part and the front end of the channel sheath, and the first position can be just the front end of the channel sheath but cannot exceed the front end of the channel sheath, so that the front end of the nephroscope lithotripsy device cannot extend out of the channel sheath, and the operation safety is guaranteed; the first side branch connecting part is communicated with the filling pump.
And S2, controlling the renal endoscope lithotripsy device to carry out laser lithotripsy.
Specifically, respond to the laser lithotripsy instruction, after the front end at kidney scope lithotripsy device removed to the primary importance, control kidney scope lithotripsy device carried out the laser lithotripsy, control the laser generator among the kidney scope lithotripsy device promptly and produce laser, carry out the rubble through laser fiber with laser transmission to the calculus position, carry out the rubble after a period according to length of presetting or art person's demand, close laser generator, stop the rubble.
During specific implementation, the moving operation instruction and the laser lithotripsy instruction can be instructions sent to the controller by an operator through a keyboard, a mouse and a foot controller, and can also be instructions issued by the main operation platform when the mechanical arm is integrated to the main operation platform.
And S3, after laser lithotripsy is completed, controlling the transmission mechanism to drive the first clamping part to retreat, so that the front end of the nephroscope lithotripsy device moves to a second position in the channel sheath.
The second position is located behind the second side branch connecting part, and the second side branch connecting part is used for being communicated with the negative pressure suction device. In particular, the second side branch connecting part is located behind the first side branch connecting part.
And S4, controlling the channel sheath calculus removing device to perform calculus removing operation.
The channel sheath stone taking device comprises a channel sheath, a perfusion pump and a negative pressure suction device, the channel sheath is a double-layer channel sheath comprising an inner channel sheath tube and an outer channel sheath tube, an interlayer lavage channel is formed between the inner channel sheath tube and the outer channel sheath tube, and the inner cavity of the inner channel sheath tube forms a central suction channel. The perfusion pump is communicated with the interlayer lavage channel of the channel sheath through the catheter, and the negative pressure suction device is communicated with the central suction channel of the channel sheath through the catheter; the controller is respectively connected with the perfusion pump and the negative pressure suction device.
Specifically, after the front end of the nephroscope lithotripsy device moves to the second position, the channel sheath lithotripsy device is controlled to carry out lithotomy operation, namely, the perfusion pump and the negative pressure suction device are controlled to carry out flushing and negative pressure lithotomy operation.
According to the control method of the percutaneous nephroscope lithotripsy stone taking mechanical arm, the transmission mechanism can be controlled to drive the front end of the nephroscope lithotripsy device to reciprocate in the channel sheath, forward lithotripsy of the nephroscope lithotripsy device is controlled, the nephroscope lithotripsy device is controlled to retreat after the lithotripsy is completed, then the channel sheath lithotripsy device is started to achieve stone taking operation, the lithotripsy and the stone taking are achieved in a matched mode, operation efficiency can be improved, and workload of an operator is reduced. The method can simplify the operation process, accurately and efficiently complete the operation and reduce the fatigue of the operator.
The nephroscope, the laser lithotripsy equipment, the channel sheath, the perfusion pump, the negative pressure suction device and other equipment in the embodiments are all mature technologies in any prior art, besides the holmium laser generator and the holmium laser optical fiber, the device can realize lithotripsy by other common laser type laser generators and laser optical fibers, and the content which is not described in detail in the specification belongs to the prior art which is known by the technicians in the field.
Embodiments of the present application provide an electronic device that may include a processor, a memory, a network interface, and a database connected by a system bus. Wherein the processor of the electronic device is configured to provide computing and control capabilities. The memory of the electronic equipment comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The network interface of the electronic device is used for connecting and communicating with an external terminal through a network. The computer program, when executed by the processor, causes the processor to perform the steps of the method of controlling a percutaneous nephrolithotomy robotic arm, as in any of the embodiments described above.
The working process, working details and technical effects of the computer device provided by this embodiment can be referred to the above embodiments of the control method for the percutaneous nephrolithotomy mechanical arm, and are not described herein again.
Embodiments of the present application provide a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the steps of the method for controlling a percutaneous nephrolithotripsy lithotomy robotic arm according to any one of the above embodiments. The computer-readable storage medium refers to a carrier for storing data, and may include, but is not limited to, floppy disks, optical disks, hard disks, flash memories, flash disks and/or Memory sticks (Memory sticks), etc., and the computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices.
The working process, working details and technical effects of the computer-readable storage medium provided by this embodiment can be referred to the above embodiments of the control method for the percutaneous nephrolithotomy mechanical arm, and are not described herein again.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double Data Rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous Link DRAM (SLDRAM), rambus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent application shall be subject to the appended claims.
Claims (10)
1. A percutaneous nephrolithotomy lithotripsy mechanical arm is characterized by comprising a controller, a mounting platform, a transmission mechanism, a first clamping part and a second clamping part;
the transmission mechanism is arranged on the mounting platform, the transmission mechanism is provided with the first clamping part, and the first clamping part is used for fixing the renal endoscope lithotripsy device;
the second clamping part is arranged at the front end of the mounting platform and used for fixing the channel sheath calculus removing device;
the controller is respectively connected with the transmission mechanism, the nephroscope lithotripsy device and the channel sheath lithotomy device;
the nephroscope lithotripsy device is used for entering a renal cavity through a channel sheath in the channel sheath lithotripsy device in an operation so as to obtain an image in the renal cavity and carry out laser lithotripsy; the channel sheath calculus removing device is used for providing a channel for the nephroscope calculus crushing device in an operation and performing calculus removing operation after crushing calculus;
the controller is used for responding to a moving operation instruction, controlling the transmission mechanism to drive the first clamping part to move forwards, so that the front end of the nephroscope lithotripsy device moves to a first position in the channel sheath; controlling the renal endoscope lithotripsy device to carry out laser lithotripsy; after laser lithotripsy is finished, controlling the transmission mechanism to drive the first clamping part to retreat so that the front end of the nephroscope lithotripsy device moves to a second position in the channel sheath; and controlling the channel sheath calculus removing device to perform calculus removing operation.
2. A robotic arm as claimed in claim 1, in which the transmission mechanism comprises a stepper motor and a guide rail;
the guide rail is embedded in the mounting platform, a sawtooth structure is arranged at the bottom of the guide rail, and the first clamping part is fixedly arranged at one end of the guide rail;
the stepping motor is meshed with the sawtooth structure through a gear to drive the guide rail to move back and forth; the stepping motor is connected with the controller.
3. The robotic arm of claim 1, wherein the nephrolithotripsy device comprises a nephroscope and a laser lithotripsy apparatus;
the nephroscope comprises a camera and a light source, and the laser lithotripsy equipment comprises a holmium laser generator and a holmium laser fiber;
one end of the holmium laser fiber is connected with the holmium laser generator, and the other end of the holmium laser fiber enters the renal cavity through the inner cavity of the renal endoscope;
the controller is respectively connected with the camera, the light source and the holmium laser generator.
4. The mechanical arm as claimed in claim 3, wherein the channel sheath lithotomy device comprises the channel sheath, a perfusion pump and a negative pressure suction device, and the perfusion pump and the negative pressure suction device are respectively communicated with the channel sheath through a catheter;
the controller is respectively connected with the perfusion pump and the negative pressure suction device.
5. The robotic arm of claim 4, wherein the channel sheath is a double channel sheath comprising an inner channel sheath and an outer channel sheath, the inner channel sheath and the outer channel sheath forming a sandwiched lavage channel therebetween, the lumen of the inner channel sheath forming a central aspiration channel;
one end of the channel sheath is provided with a first side branch connecting part and a second side branch connecting part, the first side branch connecting part is used for communicating the interlayer lavage channel with the perfusion pump, and the second side branch connecting part is used for communicating the central suction channel with the negative pressure suction device; the second side branch connecting part is positioned behind the first side branch connecting part;
the transmission mechanism drives the first clamping part to move back and forth, so that the front end of the kidney endoscope moves between the first position and the second position; the first position is located between the first side branch connecting part and the front end of the channel sheath, and the second position is located behind the second side branch connecting part.
6. A robotic arm as claimed in any one of claims 1 to 5, in which the controller is connected to a command input device comprising at least one of a keyboard, mouse and foot controller.
7. The mechanical arm as claimed in claim 6, wherein the first clamping part is fixedly connected with the nephroscope lithotripsy device through a clamping groove structure and a fixing knob; the second clamping part is fixedly connected with the channel sheath calculus removing device through a clamping groove structure and a fixing knob.
8. A control method of a percutaneous nephrolithotripsy stone-taking mechanical arm is characterized by comprising the following steps:
responding to a moving operation instruction, controlling the transmission mechanism to drive the first clamping part to move forwards, so that the front end of the nephroscope lithotripsy device moves to a first position in the channel sheath;
controlling the renal endoscope lithotripsy device to carry out laser lithotripsy;
after laser lithotripsy is completed, controlling the transmission mechanism to drive the first clamping part to retreat, so that the front end of the nephroscope lithotripsy device moves to a second position in the channel sheath;
and controlling the channel sheath calculus removing device to perform calculus removing operation.
9. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the steps of the method as claimed in claim 8 are implemented when the computer program is executed by the processor.
10. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method as claimed in claim 8.
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| CN202211595274.0A CN115813550A (en) | 2022-12-13 | 2022-12-13 | Percutaneous nephrolithotomy lithotomy mechanical arm and control method thereof |
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Application publication date: 20230321 |